Presenting realistic tactile sensation increases the reality of VR applications. However, it is difficult to realize such a device by using a single tactile stimulus (e.g. only vibration). Therefore, we developed a complex tactile presentation system that presents stimuli of force, vibration, and temperature to cutaneous receptors, and also presents a force sensation to proprioceptor, based on the Haptic Primary Color Principle. This paper describes the system configuration, the control method, and two experiments using the tactile presentation system. In the first experiment, the parameter sets were estimated for reproducing tactile texture of multiple materials, and the evaluation for a degree of similarity between display stimuli and tactile feeling of each material was conducted. In the second experiment, the evaluation for the relevance of Japanese onomatopoeia to tactile sensations, was conducted, and some onomatopoeia had strong connections with specific tactile feeling reproduced by the system. The sequence of experiments suggested that our proposed system had the ability to reproduce smooth tactile feeling, such as smooth and slippery, with relatively high fidelity; however, softness feeling, such as soft, fluffy, and mushy, was suggested relatively difficult to reproduce. Moreover, according to these findings, we estimated parameter sets of the proposed device to represent specific tactile feelings, and found that a pair of contrasting tactile feelings (e.g. smooth and rough) was reasonably located on opposite side of the tactile stimulus coordinate space from one another.